docs: document smoothing value contracts

2026-08-04 14:17:56 +08:00
parent 69fb09e617
commit fda84ce148
7 changed files with 104 additions and 6 deletions
@@ -6,6 +6,26 @@ namespace MultiWheelC.TrajectoryPlanning.PathSmoothing;
 /// <summary>单个局部 G2 平滑区域的不可变发布报告。</summary>
 public sealed class PathSmoothingRegionReport
 {
+    /// <summary>创建单个局部 G2 区域的不可变处理报告。</summary>
+    /// <param name="segmentIndex">所属方向段的从零开始索引。</param>
+    /// <param name="startArcLengthMeters">区域在完整路径上的起始弧长，单位 m。</param>
+    /// <param name="endArcLengthMeters">区域在完整路径上的结束弧长，单位 m。</param>
+    /// <param name="curvatureJumpsPerMeter">触发该区域的曲率跳变只读副本，单位 1/m。</param>
+    /// <param name="plannedWindowLengthMeters">规划窗口长度，单位 m。</param>
+    /// <param name="actualWindowLengthMeters">实际参与平滑的窗口长度，单位 m。</param>
+    /// <param name="leftWindowLengthMeters">锚点左侧窗口长度，单位 m。</param>
+    /// <param name="rightWindowLengthMeters">锚点右侧窗口长度，单位 m。</param>
+    /// <param name="candidateCount">已评估候选数量。</param>
+    /// <param name="selectedCandidateIndex">改进时选中候选索引；未改进时结果固定为 -1。</param>
+    /// <param name="status">区域是替换为改进候选还是保留原始几何。</param>
+    /// <param name="failureReason">未替换原始几何时的稳定拒绝原因。</param>
+    /// <param name="rawPeakCurvatureDerivativePerSquareMeter">原始峰值曲率导数，单位 1/m²。</param>
+    /// <param name="resultPeakCurvatureDerivativePerSquareMeter">结果峰值曲率导数，单位 1/m²。</param>
+    /// <param name="rawCurvatureVariationCost">原始曲率变化代价。</param>
+    /// <param name="resultCurvatureVariationCost">结果曲率变化代价。</param>
+    /// <param name="maximumDeviationMeters">候选相对原始路径最大偏移，单位 m。</param>
+    /// <param name="minimumBodyClearanceMeters">扩大车体最小保守净空，单位 m。</param>
+    /// <param name="maximumAbsoluteVehicleCurvaturePerMeter">绝对车辆曲率峰值，单位 1/m。</param>
    public PathSmoothingRegionReport(
        int segmentIndex,
        double startArcLengthMeters,